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Add helper function to alter heading in rotation matrices

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Kamil Ritz
2020-08-27 09:51:56 +10:00
committed by Paul Riseborough
parent fdc86c247a
commit 2be738e806
5 changed files with 33 additions and 44 deletions
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EKF/utils.hpp
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@@ -31,6 +31,9 @@ float getEuler321Yaw(const matrix::Dcmf& R);
float getEuler312Yaw(const matrix::Quatf& q);
float getEuler312Yaw(const matrix::Dcmf& R);
matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf& rot_in);
matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf& rot_in);
namespace ecl{
inline float powf(float x, int exp)
{